摘要
针对机器人的滑动和滑转,补充了机器人稳定步行的修正条件;利用三阶泰勒公式引入舒适度的概念,推导出基于舒适度的ZMP公式;提出一种用于动力学分析的三维弹簧平台-小车模型,通过简化的舒适度ZMP公式推导出该模型的运动规律;基于三维弹簧平台-小车模型,结合预观控制理论生成步行样本;最后,进行了机器人虚拟样机快速步行仿真,步速达到2.088km/h。
Stable walking conditions are reinforced for sliding wheelspin of robot. Deduced ZMP formula based on jerk which is introduced by 3 ranks Taylor formula. 3D spring table cart model used for dynamics is proposed and its motion rule is provided through simplified jerk ZMP formula. Walking pattern is generated based on 3D spring table cart model and preview control theory. Finally,dynamics simulation of the 3-D virtual prototype of the biped robot is completed in ADAMS,the Walking speed is 2. 088 km/h.
出处
《机械设计》
CSCD
北大核心
2010年第4期84-90,共7页
Journal of Machine Design
基金
国家863高技术研究发展计划资助项目(2006AA04Z201)
